CN114070165B - Motor driving method, system, device and medium - Google Patents
Motor driving method, system, device and medium Download PDFInfo
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- CN114070165B CN114070165B CN202111474287.8A CN202111474287A CN114070165B CN 114070165 B CN114070165 B CN 114070165B CN 202111474287 A CN202111474287 A CN 202111474287A CN 114070165 B CN114070165 B CN 114070165B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0022—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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Abstract
The application discloses a motor driving method, a system, a device and a medium, in the scheme, calculation of a model speed ring and a model position ring is carried out simultaneously to calculate a model torque instruction, and calculation of a motor module is carried out to obtain a model position parameter and a model speed parameter; and simultaneously calculating a position loop and a speed loop according to the position feedback parameter, the speed feedback parameter and the current feedback parameter output by the motor to obtain a torque command, and further generating a control signal based on the torque command to realize control of the motor. In the application, when the motor is controlled, the mode of combining the model loop and the control loop is used, so that the positioning error can be reduced, and the positioning accuracy of the servo motor is improved. In addition, the model position ring and the model speed ring are simultaneously carried out, and the position ring and the speed ring are simultaneously carried out, so that the delay of the model speed ring and the model speed ring is reduced, the bandwidth of position control is improved to a certain extent, and the time for the motor to complete positioning is shortened.
Description
Technical Field
The present invention relates to the field of motor control, and in particular, to a motor driving method, system, apparatus, and medium.
Background
In the prior art, when the servo motor is driven and controlled, a three-ring scheme is generally adopted, specifically, the three rings comprise a current ring, a speed ring and a position ring, wherein the current ring is the innermost ring, the speed ring is the middle ring, the position ring is the outermost ring, and the closed-loop control of the position of the servo motor is realized through the three rings. However, when the position of the motor is adjusted in this way, due to the time delay between the three loops, that is, the bandwidth of the position loop < the bandwidth of the speed loop < the bandwidth of the current loop, the time for the servo motor to complete positioning is long, and in addition, due to the time delay effect of the three loops and errors in actual operation, a certain error between the positioning of the servo motor and the target positioning is likely to exist. In summary, it is necessary to provide a driving method of a motor to rapidly and accurately implement positioning of a servo motor.
Disclosure of Invention
The invention aims to provide a motor driving method, a motor driving system, a motor driving device and a motor driving medium, wherein when a motor is controlled, a mode of combining a model loop and a control loop is used, so that the positioning error can be reduced, and the positioning accuracy of a servo motor is improved. In addition, the model position ring and the model speed ring are simultaneously carried out, and the position ring and the speed ring are simultaneously carried out, so that the delay of the model speed ring and the model speed ring is reduced, the bandwidth of position control is improved to a certain extent, and the time for the motor to complete positioning is shortened.
In order to solve the above technical problems, the present invention provides a motor driving method, including:
obtaining a model position parameter and a model speed parameter which are output by a motor model, and a position feedback parameter, a speed feedback parameter and a current feedback parameter which are output by the motor;
Calculating a first model torque through a model position loop based on a target position parameter and the model position parameter, and simultaneously calculating a second model torque through a model speed loop based on the target speed parameter and the model speed parameter;
generating a model torque command based on the first model torque and the second model torque, and controlling the motor model based on the model torque command so as to stabilize a model position parameter output by the motor model at the target position parameter and stabilize an output model speed parameter at the target speed parameter;
Calculating a first torque through a position loop based on the model position parameter and the position feedback parameter output by the motor model, and generating a second torque through a speed loop based on the model speed parameter and the speed feedback parameter output by the motor model;
And generating a torque command based on the first torque and the second torque, and generating a control signal through a current loop based on the torque command, the model torque command and the current feedback parameter to control the motor.
Preferably, obtaining a model position parameter and a model speed parameter output by the motor model includes:
obtaining the model position parameters output by the motor model;
And differentiating the model position parameter to obtain the model speed parameter.
Preferably, the target speed parameter is a parameter obtained by differentiating the target position parameter.
Preferably, the target position parameter is a parameter obtained by integrating the target speed parameter.
Preferably, calculating the first torque by a position loop based on the model position parameter and the position feedback parameter output by the motor model includes:
And calculating the first torque through a position loop and a PI regulating algorithm based on the model position parameter output by the motor model and the position feedback parameter.
Preferably, generating the second torque through a speed loop based on the model speed parameter and the speed feedback parameter of the motor model output includes:
and generating a second torque through the speed loop and a PI regulating algorithm based on the model speed parameter output by the motor model and the speed feedback parameter.
Preferably, the target position parameter is a plurality of pulse signals.
In order to solve the above technical problems, the present invention further provides a motor driving system, including:
the acquisition unit is used for acquiring the model position parameter and the model speed parameter which are output by the motor model, and the position feedback parameter, the speed feedback parameter and the current feedback parameter which are output by the motor;
The first adjusting unit is used for calculating a first torque through a model position ring based on a target position parameter and the model position parameter, and calculating a second model torque through a speed position ring based on the target speed parameter and the model speed parameter;
A first instruction generating unit configured to generate a model torque instruction based on the first model torque and the second model torque, and control the motor model based on the model torque instruction, so that a model position parameter output by the motor model is stabilized at the target position parameter and an output model speed parameter is stabilized at the target speed parameter; the second adjusting unit is used for calculating a first torque through a position loop based on the model position parameter and the position feedback parameter output by the motor model, and generating a second torque through a speed loop based on the model speed parameter and the speed feedback parameter output by the motor model;
And the second instruction generation module is used for generating a torque instruction based on the first torque and the second torque, and generating a control signal through a current loop based on the torque instruction, the model torque instruction and the current feedback parameter so as to control the motor.
In order to solve the technical problem, the present invention further provides a motor driving device, including:
A memory for storing a computer program;
And a processor for implementing the steps of the motor driving method described above when executing the computer program.
To solve the above technical problem, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the motor driving method described above.
The application provides a motor driving method, a system, a device and a medium, in the scheme, calculation of a model speed ring and a model position ring is carried out simultaneously to calculate a model torque instruction, and calculation of a motor module is carried out to obtain a model position parameter and a model speed parameter; and simultaneously calculating a position loop and a speed loop according to the position feedback parameter, the speed feedback parameter and the current feedback parameter output by the motor to obtain a torque command, and further generating a control signal based on the torque command to realize control of the motor. In the application, when the motor is controlled, the mode of combining the model loop and the control loop is used, so that the positioning error can be reduced, and the positioning accuracy of the servo motor is improved. In addition, the model position ring and the model speed ring are simultaneously carried out, and the position ring and the speed ring are simultaneously carried out, so that the delay of the model speed ring and the model speed ring is reduced, the bandwidth of position control is improved to a certain extent, and the time for the motor to complete positioning is shortened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a motor driving method according to the present invention;
FIG. 2 is an internal schematic view of a nonlinear model position ring provided by the present invention;
FIG. 3 is a schematic diagram of a model tracking control loop provided by the present invention;
FIG. 4 is an internal schematic view of a nonlinear position ring provided by the present invention;
FIG. 5 is a schematic diagram of a nonlinear position control loop provided by the present invention;
FIG. 6 is a schematic diagram of an embodiment of the present invention;
FIG. 7 is a block diagram of a motor drive system according to the present invention;
fig. 8 is a block diagram of a motor driving device according to the present invention.
Detailed Description
The core of the invention is to provide a motor driving method, a system, a device and a medium, when the motor is controlled, the model position ring and the model speed ring are calculated simultaneously, and the position ring and the speed ring are calculated simultaneously, so that the delay of the model speed ring and the speed ring is reduced, the bandwidth of the position control can be improved to a certain extent, and the time for the motor to finish positioning can be shortened.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flow chart of a motor driving method according to the present invention, the method includes:
S11: obtaining a model position parameter and a model speed parameter which are output by a motor model, and a position feedback parameter, a speed feedback parameter and a current feedback parameter which are output by the motor;
s12: calculating a first model torque through a model position loop based on the target position parameter and the model position parameter, and simultaneously calculating a second model torque through a model speed loop based on the target speed parameter and the model speed parameter;
S13: generating a model torque command based on the first model torque and the second model torque, and controlling the motor model based on the model torque command so as to enable the model position parameter output by the motor model to be stabilized at a target position parameter and the model speed parameter output by the motor model to be stabilized at a target speed parameter;
The design idea of the application is to combine the model speed ring and the model position ring into one loop, thereby reducing the delay time of one loop in the control scheme of model tracking, improving the bandwidth of the model position ring and reducing the time for completing positioning of the motor.
Specifically, the specific way to combine the model speed loop and the model position loop into one loop is as follows: and simultaneously, calculating the model position loop and the model speed loop, and shortening the calculation time of the two loops into the calculation time of one loop. The method comprises the following steps: the model position loop generates a first model torque based on the target position parameter and the model position parameter, the model speed loop generates a second model torque based on the target speed parameter and the model speed parameter, then a model torque command is generated based on the first model torque and the second model torque, and the motor model simulates the actual motor running condition based on the torque command. The purpose of controlling the model position parameter output by the motor model to be stabilized at the target position parameter and controlling the model speed parameter of the motor model to be stabilized at the target speed parameter is as follows: in order to realize the closed-loop control of the output parameters (model position parameters and model speed parameters) of the motor model so as to enable the output parameters to reach target expected values, the position ring and the speed ring in the subsequent motor control loop can respectively carry out closed-loop control on the motor based on stable and accurate model position parameters and model speed parameters, and the motor is positioned at a target position.
Since the model position loop and the model velocity loop are calculated simultaneously in the present application, which is equivalent to combining the model position loop and the model velocity loop into a new nonlinear model position loop, specifically, referring to fig. 2 and 3, fig. 2 is an internal schematic diagram of the nonlinear model position loop provided in the present application. Fig. 3 is a schematic diagram of a model tracking control loop provided by the present application. The time of the loop is smaller than the sum of the time of the model position loop and the time of the model speed loop, and the delay of the original model speed loop is reduced, so that the position control bandwidth of the scheme of the application can be greatly improved, and the time for completing positioning of the motor is less.
In fig. 3, the outer ring is a nonlinear model position ring, including the motor model inside. The inputs to the nonlinear model position loop are the target model position, target model velocity, model position parameters, and model velocity parameters. The output of the nonlinear model position loop is the model torque command. The nonlinear model position loop may include, but is not limited to, 4 control parameters, respectively: kp_m, ki_m, kd_m and Ke_m. Wherein kp_m, ki_m, kd_m, and ke_m are model proportional gain, model integral gain, model differential gain, and model differential integral gain, respectively, of the nonlinear model position loop control.
At this time, the transfer function of the corresponding nonlinear model position ring can be expressed as:
s14: calculating a first torque through a position loop based on a model position parameter and a position feedback parameter which are output by a motor model, and generating a second torque through a speed loop based on a model speed parameter and a speed feedback parameter which are output by the motor model;
S15: a torque command is generated based on the first torque and the second torque, and a control signal is generated through the current loop based on the torque command, the model torque command, and the current feedback parameter to control the motor.
Similarly, the speed loop and the position loop in the three-loop position control are combined into one loop, so that the delay time of one loop (namely the speed loop) is reduced in the scheme for controlling the motor, the bandwidth of the position loop can be improved, and the time for completing positioning of the motor is reduced.
Specifically, the specific way to combine the speed loop and the position loop into one loop is as follows: and meanwhile, the position loop and the speed loop are calculated, so that the calculation time of the two loops is shortened to the calculation time of one loop. The method comprises the following steps: the position loop generates a first torque based on the model position parameter and the position feedback parameter, the speed loop generates a second torque based on the model speed parameter and the speed feedback parameter, then a torque command is generated based on the first torque and the second torque, and the current loop generates a control signal based on the torque command to control the motor so as to complete positioning.
Since the position loop and the velocity loop are calculated simultaneously in the present application, which is equivalent to combining the position loop and the velocity loop into a new nonlinear position loop (three loop control becomes two loop control), specifically, referring to fig. 4 and fig. 5, fig. 4 is an internal schematic diagram of the nonlinear position loop provided in the present application. Fig. 5 is a schematic diagram of a nonlinear position control loop provided by the present application. The time of the loop is smaller than the sum of the time of the position loop and the time of the speed loop, and the delay of the original speed loop is reduced, so that the position control bandwidth of the scheme of the application can be greatly improved, and the time for the motor to complete positioning is less.
In fig. 5, the two-loop position control loop: the inner ring is a current ring, and the outer ring is a nonlinear position ring (the original position ring and the speed ring are combined). The inputs to the current loop are torque command, model torque and current feedback parameters, and its output is a control signal (which may be, but is not limited to, a voltage command) calculated or regulated by the current loop. The nonlinear position loop is input as a position command (i.e., a model position parameter output by a motor model) and as a position feedback parameter and a speed feedback parameter, which are pulsed, communicated, or otherwise input. Its output is a torque command.
For a nonlinear position loop, it may be, but is not limited to, including 4 control parameters, respectively: kp, ki, kd and Ke. Where Kp, ki, kd, and Ke are proportional, integral, differential, and differential integral gains, respectively, of the nonlinear position loop control.
Furthermore, it should be noted that since there is no delay link caused by the current loop control inside the motor model, PI gain parameters kp_m, ki_m, kd_m, and ke_m of the nonlinear model position loop are significantly larger than PI gain parameters Kp, ki, kd, and Ke of the two-loop nonlinear position control. The position control bandwidth of the two-loop nonlinear position control + two-loop model tracking control scheme is determined by the gains kp_m, ki_m, kd_m, and ke_m of the nonlinear model position loop. Referring to fig. 6, fig. 6 is a schematic diagram of an embodiment of the present invention.
In summary, compared with the scheme without two-loop model tracking control and only with two-loop nonlinear position control, the scheme provided by the application has the advantages that the model control gain of the two-loop nonlinear position control plus two-loop model tracking control scheme is obviously improved, so that the position control bandwidth is greatly improved, the model position parameters and the torque command executed by the motor are closest to the optimal value of the motor operation, the actual operation torque, speed and position of the motor are close to the theoretical optimal value, and the positioning completion time of the servo is obviously shortened.
Based on the above embodiments:
As a preferred embodiment, obtaining a model position parameter and a model speed parameter output by a motor model includes:
Obtaining a model position parameter output by a motor model;
differentiating the model position parameter to obtain the model speed parameter.
The model position parameters and the model speed parameters in the application can be directly output by the motor model. However, considering that there is a relationship of differentiation and integration between the position and the velocity, specifically, the position is the integration of the velocity, and the velocity is the differentiation of the position.
Therefore, the motor module in the application can only output the model position parameter and then differentiate the model position parameter to obtain the model speed parameter.
As a preferred embodiment, the target speed parameter is a parameter obtained by differentiating the target position parameter.
As a preferred embodiment, the target position parameter is a parameter obtained by integrating the target speed parameter.
Similarly, the mode of acquiring the target position parameter and the target speed parameter in the application can be directly input by a user, or can be that the user inputs the target position parameter, differentiates the target position parameter to obtain the target speed parameter, and then calculates the model position loop and the model speed loop respectively and simultaneously.
Or, the user inputs the target speed parameter, integrates the target speed parameter to obtain the target position parameter, and then calculates based on the model position loop and the model speed loop respectively.
When the integral or differential form is used for calculation, the difference from the three-ring control mode in the prior art is that: the obtained target speed parameter or target position parameter is different in mode, one is directly input by a user (in the prior art), and the other is obtained based on integration or differentiation.
In addition, as a preferred embodiment, the mode of acquiring each feedback parameter may be to acquire the position, the speed, the current, and the like of the motor, so as to obtain the feedback position parameter, the feedback speed parameter, and the feedback current parameter of the motor. Or only collecting the position and the current of the motor to obtain the position feedback parameter and the current feedback parameter of the motor, and differentiating the position feedback parameter to obtain the speed feedback parameter.
Of course, the manner of acquiring the target position parameter and the target speed parameter, and the manner of acquiring the respective feedback parameters are not limited to the above examples, and the present application is not particularly limited thereto.
As a preferred embodiment, calculating the first torque by the position loop based on the model position parameter and the position feedback parameter includes:
and calculating the first torque through a position loop and a PI regulating algorithm based on the model position parameter and the position feedback parameter.
The embodiment aims to provide a specific adjustment mode of a model position ring, specifically, PI adjustment is used in the model position ring to carry out closed-loop control on model position parameters output by a motor model, so that the model position parameters are stabilized at positions corresponding to target position parameters. The PI regulation has good stability, and can realize good control of model position parameters.
Of course, the specific implementation of the adjustment of the model position ring is not limited to the above example, and may be PID adjustment or the like, and the present application is not particularly limited herein.
As a preferred embodiment, generating the second torque through the speed loop based on the model speed parameter and the speed feedback parameter comprises:
and generating a second torque through a speed loop and a PI regulating algorithm based on the model speed parameter and the speed feedback parameter.
The present embodiment aims to provide a specific adjustment manner of a model speed loop, specifically, PI adjustment is used in the model speed loop to perform closed-loop control on a model speed parameter output by a motor model, so as to make the model speed parameter stable at a speed value corresponding to a target speed parameter. The PI regulation has good stability, and can realize good control of model speed parameters.
Of course, the specific implementation of the model speed loop is not limited to the above example, and PID adjustment and the like are also possible, and the present application is not particularly limited herein.
As a preferred embodiment, the target position parameter is a plurality of pulse signals.
The present embodiment aims to provide a specific implementation manner of the target position parameter, where the target position parameter may be, but is not limited to, a plurality of pulse signals, for example, when the pulse signals include 1000 pulses, the motor may need to take 1000 steps.
Therefore, when the target position parameters are a plurality of pulse signals, the motor can be controlled, and the implementation mode is simple and reliable.
Of course, the specific implementation of the target position parameter is not limited to the above example, and other implementations are also possible, and the present application is not limited thereto.
As a preferred embodiment, the torque command is a pulse width modulated PWM signal.
The present embodiment aims to provide a specific implementation manner of a torque command, in which PWM signals with different duty ratios and different frequencies can be generated through control of a position loop, a speed loop and a current loop, but not limited to PWM signals, so as to realize different control of a motor.
Therefore, when the torque command is a PWM signal, the motor can be controlled, and the implementation mode is simple and reliable.
Of course, the specific implementation of the torque command is not limited to the above example, and other implementations are also possible, and the present application is not particularly limited herein.
Referring to fig. 7, fig. 7 is a block diagram of a motor driving system according to the present invention, the system includes:
An obtaining unit 71, configured to obtain a model position parameter and a model speed parameter output by the motor model, and a position feedback parameter, a speed feedback parameter and a current feedback parameter output by the motor;
A first adjusting unit 72 for calculating a first torque through the model position loop based on the target position parameter and the model position parameter, and calculating a second model torque through the speed position loop based on the target speed parameter and the model speed parameter;
A first command generating unit 73 for generating a model torque command based on the first model torque and the second model torque, and controlling the motor model based on the model torque command so that the model position parameter output by the motor model is stabilized at the target position parameter and the model speed parameter output by the motor model is stabilized at the target speed parameter;
a second adjusting unit 74, configured to calculate a first torque through a position loop based on the model position parameter and the position feedback parameter output by the motor model, and generate a second torque through a speed loop based on the model speed parameter and the speed feedback parameter output by the motor model;
the second command generating module 75 is configured to generate a torque command based on the first torque and the second torque, and generate a control signal through the current loop based on the torque command, the model torque command, and the current feedback parameter, so as to control the motor.
In order to solve the above technical problems, the present application further provides a motor driving system, and the description of the motor driving system is referred to the above embodiment, and the description of the application is omitted herein.
Referring to fig. 8, fig. 8 is a block diagram of a motor driving device according to the present invention, where the motor driving device includes:
A memory 81 for storing a computer program;
A processor 82 for implementing the steps of the motor driving method described above when executing the computer program.
In order to solve the above technical problems, the present application further provides a motor driving device, and the description of the motor driving device is referred to the above embodiment, and the description of the application is omitted herein.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the motor driving method described above.
It should be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A motor driving method, characterized by comprising:
obtaining a model position parameter and a model speed parameter which are output by a motor model, and a position feedback parameter, a speed feedback parameter and a current feedback parameter which are output by the motor;
Calculating a first model torque through a model position loop based on a target position parameter and the model position parameter, and simultaneously calculating a second model torque through a model speed loop based on a target speed parameter and the model speed parameter;
generating a model torque command based on the difference value of the first model torque minus the second model torque, and controlling the motor model based on the model torque command so as to stabilize the model position parameter output by the motor model at the target position parameter and the model speed parameter output by the motor model at the target speed parameter;
Calculating a first torque through a position loop based on the model position parameter and the position feedback parameter output by the motor model, and generating a second torque through a speed loop based on the model speed parameter and the speed feedback parameter output by the motor model;
And generating a torque command based on the difference value of the first torque minus the second torque, and generating a control signal through a current loop based on the torque command, the model torque command and the current feedback parameter to control the motor.
2. The motor driving method according to claim 1, wherein obtaining the model position parameter and the model speed parameter of the motor model output includes:
obtaining the model position parameters output by the motor model;
And differentiating the model position parameter to obtain the model speed parameter.
3. The motor driving method according to claim 1, wherein the target speed parameter is a parameter obtained by differentiating the target position parameter.
4. The motor driving method according to claim 1, wherein the target position parameter is a parameter obtained by integrating the target speed parameter.
5. The motor driving method according to claim 1, wherein calculating a first torque by a position loop based on the model position parameter and the position feedback parameter output by the motor model, comprises:
And calculating the first torque through a position loop and a PI regulating algorithm based on the model position parameter output by the motor model and the position feedback parameter.
6. The motor driving method according to claim 1, wherein generating a second torque through a speed loop based on the model speed parameter and the speed feedback parameter of the motor model output includes:
and generating a second torque through the speed loop and a PI regulating algorithm based on the model speed parameter output by the motor model and the speed feedback parameter.
7. A motor driving method according to any one of claims 1 to 6, wherein the target position parameter is a plurality of pulse signals.
8. A motor drive system, comprising:
the acquisition unit is used for acquiring the model position parameter and the model speed parameter which are output by the motor model, and the position feedback parameter, the speed feedback parameter and the current feedback parameter which are output by the motor;
The first adjusting unit is used for calculating a first model torque through a model position loop based on a target position parameter and the model position parameter, and calculating a second model torque through a model speed loop based on a target speed parameter and the model speed parameter;
A first instruction generating unit configured to generate a model torque instruction based on a difference value of the first model torque subtracted by the second model torque, and control the motor model based on the model torque instruction, so that a model position parameter output by the motor model is stabilized at the target position parameter and an output model speed parameter is stabilized at the target speed parameter;
The second adjusting unit is used for calculating a first torque through a position loop based on the model position parameter and the position feedback parameter output by the motor model, and generating a second torque through a speed loop based on the model speed parameter and the speed feedback parameter output by the motor model;
and the second instruction generation module is used for generating a torque instruction based on the difference value of the first torque minus the second torque, and generating a control signal through a current loop based on the torque instruction, the model torque instruction and the current feedback parameter so as to control the motor.
9. A motor drive apparatus, comprising:
A memory for storing a computer program;
A processor for implementing the steps of the motor driving method according to any one of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the motor driving method according to any of claims 1-7.
Priority Applications (1)
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